JP6749612B2 - Route management control server, method and system, and first and second air vehicles used therein - Google Patents

Description

TECHNICAL FIELD The present invention relates to a route management control server, a method and a system, and a first flight vehicle and a second flight vehicle used for the same, and more particularly to a technique for managing and controlling appropriate operation of a manned flight vehicle.

Patent Document 1 discloses a technique of displaying a planned flight route on a display unit as a tunnel-like display with respect to a flight route guidance technique of an air vehicle.

JP, 2009-269604, A

However, the technique described in Patent Document 1 does not disclose anything about simultaneously managing and controlling a plurality of flying objects.

Therefore, an object of the present invention is to provide a technique capable of simultaneously managing and controlling a plurality of air vehicles.

According to the present invention, there is provided a route management control server communicatively connected to a plurality of first aircraft via a network,
Location data including at least one of map information, topographical information or building information, and storage means for storing route data based on three-dimensional coordinates,
Control means for reading the location data and the route data,
A route management control server is obtained, which comprises transmitting means for reading out the location data and the route data to each of the first air vehicles.

According to the present invention, a plurality of air vehicles can be managed and controlled at the same time.

FIG. 1 is a configuration diagram of a network used in a route management control system according to an embodiment of the present invention. It is a block diagram which shows the hardware constitutions of the route management control server of FIG. It is a block diagram which shows the hardware constitutions of the computer mounted in the 1st flying body of FIG. It is a block diagram which shows the hardware constitutions of the computer mounted in the 2nd flying body of FIG. It is an image figure which shows typically the content of the data used for the route management control system of FIG. It is a schematic diagram which shows the outline|summary of the route management control system of FIG. It is a screen display example of the display part of the 1st flying body of FIG. It is another schematic diagram which shows the outline|summary of the route management control system of FIG. It is another schematic diagram which shows the outline|summary of the route management control system of FIG.

The contents of the embodiments of the present invention will be listed and described. A route management control server, a method and a system according to an embodiment of the present invention, and a first air vehicle and a second air vehicle used for the same have the following configurations.
[Item 1]
A route management control server communicatively connected to a plurality of first aircraft via a network,
Storage means for storing location data including at least one of map information, topographical information and building information, and route data based on three-dimensional coordinates,
Control means for reading the location data and the route data,
A route management control server, comprising: a transmitting unit that transmits the read location data and the route data to each of the first air vehicles.
[Item 2]
The route management control server according to item 1,
Further comprising receiving means for receiving traffic information of the route,
The transmitting means transmits the received traffic information to the first air vehicle,
Route management control server.
[Item 3]
The route management control server according to item 2,
The receiving means receives the traffic information from the one first air vehicle,
The transmission means transmits the received traffic information to another first air vehicle,
Route management control server.
[Item 4]
The route management control server according to item 2 or item 3,
The control means generates new route data based on the received traffic information,
The transmitting means transmits the generated new route data to the first air vehicle,
Route management control server.
[Item 5]
The route management control server according to any one of items 2 to 4,
The control means generates a flight control instruction based on the received traffic information,
The transmitting means transmits the generated flight control instruction to the first flying body,
Route management control server.
[Item 6]
The route management control server according to any one of Items 1 to 5,
The route data has latitude information, longitude information and altitude information,
Route management control server.
[Item 7]
The route management control server according to any one of Items 1 to 6,
The route data has speed limit information associated with the first specific area of the route,
Route management control server.
[Item 8]
The route management control server according to any one of Items 1 to 7,
The route data has charge information associated with the second specific area of the route,
The route management control server, when the first aircraft enters the second specific area based on the position information received from the first aircraft, a settlement means for starting a settlement process for the first aircraft. Is further equipped with,
Route management control server.
[Item 9]
A second air vehicle capable of communicating with the route management control server according to any one of items 2 to 8 via a network,
A power unit for flight,
A positioning unit that measures position information,
A collection unit for collecting the traffic information of the route,
A transmission unit that transmits the collected traffic information to the route management control server,
Second air vehicle.
[Item 10]
The second air vehicle according to item 9,
Further comprising detection means for detecting an abnormality from the collected traffic information,
The transmitting means transmits information regarding the detected abnormality to at least the route management control server, the first flying body or another second flying body.
Second air vehicle.
[Item 11]
The first air vehicle according to any one of Items 1 to 10,
A power unit for flight,
A positioning unit that measures position information,
A receiving unit that receives at least one of the location data and the route data from the route management control server;
A control unit for receiving the operation by the operator and controlling the flight of the first flying object;
A first air vehicle comprising at least a display unit for displaying the received route data to an operator.
[Item 12]
The first air vehicle according to item 11,
Further comprising a transmission unit that transmits the position information obtained by the positioning to the route management control server,
First air vehicle.
[Item 13]
The first air vehicle according to item 11 or 12,
The control unit controls the power unit based on the route data and the position information,
First air vehicle.
[Item 14]
A route management control server using a computer communicatively connected to a plurality of first aircraft via a network,
A storage step in which the computer stores location data including at least one of map information, topographical information and building information, and route data based on three-dimensional coordinates,
A control step of reading the location data and the route data,
And a transmitting step of transmitting the location data and the route data to each of the first air vehicles.
[Item 15]
A route management control system including a plurality of first flying vehicles, a plurality of second flying vehicles, and a route management control device,
The first flying body, the second flying body, and the route management control device are communicably connected to each other via a network,
The route management control device is:
Location data including at least one of map information, topographical information and building information, and storage means for storing route data based on three-dimensional coordinates;
Control means for reading the location data and the route data;
Transmitting means for reading out the location data and the route data to each of the first air vehicles;
A receiving means for receiving the traffic information of the route;
The first air vehicle is:
A power unit for flight;
A positioning unit that measures position information;
A receiving unit for receiving at least either the location data or the route data from the route management control server;
A control unit for receiving the operation by the operator and controlling the flight of the first flying object;
A display unit for displaying at least the received route data to an operator;
The second air vehicle is:
A power unit for flight;
A positioning unit that measures position information;
A collection unit for collecting the traffic information of the route;
A route management control system, comprising: a transmission unit that transmits the collected traffic information to the route management control server;
The control means of the route management control device generates new route data based on the received traffic information, and the transmission means of the route management control device transmits the generated new route data to the first flight. Send to the body and the second flying body,
Route management control system.

<Details of the embodiment>
Hereinafter, a route management control server, a method and a system according to an embodiment of the present invention, and a route management control warehouse management system realized by a first flying object and a second flying object used for the same will be described with reference to the drawings. ..

<Outline>
The route management control system (hereinafter referred to as "control system") according to the present invention performs appropriate operation control especially for a manned small air vehicle (hereinafter referred to as "air mobile"). The control system cooperates with a plurality of surveillance rotor aircraft (hereinafter referred to as "surveillance drone") to perform more appropriate operation control.

An airmobile is a small-sized air vehicle in which a person can ride, and has a size of a small scooter or a general automobile. The airmobile according to the present embodiment is a so-called multicopter having a plurality of rotor blades. Although the power source is mainly a rotary blade, it may have a lift generation source other than this and may be movable on water, on land or in water. In this case, it may have auxiliary power means, various measuring instruments, control devices, etc. depending on the situation of the moving place. The hardware configuration of the information processing device mounted on the air mobile will be described later.

The surveillance drone is an unmanned aerial vehicle and includes a battery, a plurality of motors, a position detection unit, a control unit, a driver, a storage device, a wireless communication device, a voltage sensor, a current sensor, and the like. These components are mounted on a frame having a predetermined shape. The hardware configuration of the information processing device mounted on the surveillance drone will be described later. Known techniques can be appropriately adopted for these basic structures.

<Structure>
As shown in FIG. 1, the control system 100 according to the present embodiment includes a route management control server (hereinafter simply referred to as “server”) 1, an air mobile 2, and a surveillance drone 3.

The server 1, the air mobile 2, and the surveillance drone 3 are so-called client-server model systems that are communicably connected to each other via a network 4. The network 4 according to the present embodiment is an IP-based computer network, but may be shared with a carrier network for mobile phones, smartphones, and the like. Here, the computer network is used in a broad concept including the Internet constructed by mutually connected IP networks. In addition, the computer network may include a wireless network constructed by a wireless base station (not shown) (for example, WiFi). The carrier network and the IP network are connected, for example, via a gateway or the like, but are not limited to this.

<Hardware configuration>
The hardware configurations of the server 1, the air mobile 2, and the surveillance drone 3 will be described with reference to FIGS. 2 to 4, respectively.

<Route management control server (server) 1>
As shown in FIG. 2, the server 1 is an information processing device for providing a service through the route management control system 100, and may be a general-purpose computer such as a workstation or a personal computer, or a cloud computer. May be logically realized by the wing. As shown in FIG. 2, the server 1 includes a processor 10, a memory 11, a storage 12, a transmission/reception unit 13, an input/output unit 14, and the like, which are electrically connected to each other through a bus 15.

The processor 10 is an arithmetic unit that controls the overall operation of the server 1, controls the transmission and reception of data between the respective elements, and performs information processing necessary for executing applications. For example, the processor 10 is a CPU (Central Processing Unit) and executes a program or the like stored in the storage 12 and expanded in the memory 11 to perform each information processing.

The memory 11 includes a main memory configured by a volatile storage device such as a DRAM (Dynamic Random Access Memory) and an auxiliary storage configured by a non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). .. The memory 11 is used as a work area or the like of the processor 10, and also stores a BIOS (Basic Input/Output System) executed when the server 1 is started, various setting information, and the like. The storage 12 stores various programs such as an application program and an authentication program for each airmobile 2 and the surveillance drone 3. A database (location data, route data, etc. described later) storing data used for each process may be built in the storage 12.

<Small Aircraft (Airmobile) 2>
As shown in FIG. 3, the air mobile 2 is equipped with an information processing device 200. The information processing apparatus 200 receives the service of the route management control system 100 by executing information processing via communication with the server 1. The information processing device 200 includes at least a processor 20, a memory 21, a storage 22, a transmission/reception unit 23, an input/output unit 24, a positioning unit 26, a detection unit 27, and the like, and these are electrically connected to each other via a bus 25. .. The information processing apparatus 200 may be, for example, a general-purpose computer such as a workstation or a personal computer, may be linked to a terminal having a touch panel such as a device such as a smartphone, a PDA, or a tablet computer, or cloud computing. May be logically realized by

The processor 20 is an arithmetic device that controls the operation of the information processing device 200, controls the transmission and reception of data between the respective elements, and performs the processes necessary for executing applications. For example, the processor 20 is a CPU and/or a GPU (Graphical Processing Unit) or the like, and executes necessary programs by executing programs and the like stored in the storage 22 and expanded in the memory 21.

The memory 21 includes a main memory configured by a volatile storage device such as a RAM and an auxiliary storage configured by a non-volatile storage device such as a flash memory or an HDD. The memory 21 is used as a work area or the like of the processor 20, and also stores a BIOS executed when the information processing apparatus 200 is activated, various setting information, and the like. The storage 22 stores application programs and the like.

The transmission/reception unit 23 connects the information processing device 200 to the network 4 and communicates with the server 1. The transmission/reception unit 23 also includes a short-range communication interface of Bluetooth (registered trademark) and BLE (Bluetooth Low Energy).

The input/output unit 24 is an information input device such as a control stick (handle) switch and an output device such as a display, and presents information to an operator of the air mobile 2 and performs an input operation.

The bus 25 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

The positioning unit 26 detects at least the altitude of the airmobile 2. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector, and detects the latitude, longitude, and altitude of the current position of the airmobile 2.

The detection unit 27 is for sensing the external environment of the airmobile 2 with various sensors such as voice, images, infrared rays, and the like.

The airmobile 2 according to the present embodiment relays, in addition to the information processing device 200, a power supply, a motor connected to a rotary wing, and the information processing device 200 and the motor for moving and flying the airmobile 2. It further comprises at least a driver. The information processing apparatus 200 controls a plurality of motors to control the flight of the air mobile (control such as ascending, descending, and horizontal movement), and uses a gyro (not shown) mounted on the air mobile 2 to perform a plurality of operations. Attitude control is also performed by controlling the motor of. The driver drives the motor according to the control signal from the information processing device 200. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage designated by a control signal to the motor. In addition, as a matter of course, the airmobile 200 has elements (not shown) (for example, equipment for manned flight, other equipment for flight, etc.).

<Rotary wing for surveillance (surveillance drone) 3>
As shown in FIG. 4, the surveillance drone 3 is equipped with an information processing device 300. The information processing device 300 forms a part of the system of the route management control system 100 by executing information processing via communication with the server 1. The information processing device 300 includes at least a processor 30, a memory 31, a storage 32, a transmission/reception unit 33, an output unit 34, a positioning unit 36, a detection unit 37, and the like, which are electrically connected to each other through a bus 35. The information processing device 300 may be configured by, for example, a microcomputer or an ASIC (Application Specific Integrated Circuit), or may be logically realized by cloud computing.

The processor 30 is an arithmetic device that controls the operation of the information processing device 300, controls the transmission and reception of data between the elements, and performs the processes necessary for executing applications. For example, the processor 30 is a CPU and/or a GPU (Graphical Processing Unit) or the like, and executes each required information processing by executing a program or the like stored in the storage 32 and expanded in the memory 31.

The memory 31 includes a main memory configured by a volatile storage device such as a RAM and an auxiliary storage configured by a non-volatile storage device such as a flash memory or an HDD. The memory 31 is used as a work area of the processor 30, and also stores a BIOS executed when the information processing apparatus 300 is started up, various setting information, and the like. The storage 32 stores application programs and the like.

The transmission/reception unit 33 connects the information processing device 300 to the network 4 and communicates with the server 1. The transmission/reception unit 33 also includes Bluetooth (registered trademark) and BLE (Bluetooth Low Energy) short-range communication interfaces.

The input/output unit 34 is an information input device such as a control stick (handle) switch, and an output device such as a display.

The bus 35 is commonly connected to each of the above elements and transmits, for example, an address signal, a data signal, and various control signals.

The positioning unit 36 detects at least the altitude of the surveillance drone 3. The positioning unit 26 according to the present embodiment is, for example, a GPS (Global Positioning System) detector, and detects the latitude, longitude, and altitude of the current position of the airmobile 2.

The detection unit 37 is for sensing the external environment of the surveillance drone 3 with various sensors such as voice, images, infrared rays, and the like.

The surveillance drone 3 according to the present embodiment relays, in addition to the information processing device 300, a power supply, a motor connected to a rotary wing, and the information processing device 300 and the motor for moving and flying the surveillance drone 3. It further comprises at least a driver. The information processing device 300 controls a plurality of motors to control the flight of the surveillance drone (control of ascending, descending, horizontal movement, etc.), and uses a gyro (not shown) mounted on the surveillance drone 3 to perform a plurality of operations. Attitude control is also performed by controlling the motor of. The driver drives the motor according to the control signal from the information processing device 300. For example, the motor is a DC motor, and the driver is a variable voltage power supply circuit that applies a voltage designated by a control signal to the motor. The surveillance drone 300 may have other elements not shown.

<Data>
As shown in FIG. 5, in the present embodiment, location data 530 including at least one of map information, topographical information and building information, route data 510 based on three-dimensional coordinates, and a state on the route. And traffic data 520 representing These data are transmitted from the server 1 to some or all of the air mobiles 2 or the surveillance drones 3 and are shared respectively.

More specifically, as shown in FIG. 5, the location data is map information and includes information about the topography, buildings and other structures. The location data in this embodiment includes so-called plane map information (latitude information and longitude information), as well as accurate height information (altitude information) of the structure. Further, particularly for the structure, it also has coordinate information of the volume occupied in the real space (that is, including the shape information of the structure for the airmobile 2 to fly without collision).

The route data 510 plays a role of a road in the sky of the airmobile 2, and as will be described later, the route data is displayed on the display portion of the airmobile 2 to enable safe operation of the airmobile. Become. The route data has at least continuous latitude information, longitude information, and altitude information, and the route is specified by the information. Note that the route data may have certain width information such that the route can be operated like the width of a normal road. The route data 510 includes information about branching of routes, speed limits, intervals with other routes, traveling directions, vehicle type restrictions, and traffic restrictions (information corresponding to signals and information about operation restrictions).

The traffic data 520 is information for identifying a trouble area on the route, for example, when a trouble occurs on the route, and has at least latitude information, longitude information, and altitude information, and the contents of the trouble.

<Process flow>
Referring to the conceptual diagram of the control system according to the present embodiment shown in FIG. 6, the server 1 reads out the location data and the route data and transmits the location data and the route data to the air mobile 2, and the display portion of the air mobile 2 displays the operable area. indicate. The display unit of the airmobile 2 according to the present embodiment is preferably a display unit that does not obstruct the driver's field of view, such as a head-up display, and a method of projecting on the windshield or AR (Augmented Reality). Various devices utilizing the technology can be adopted.

As shown in FIG. 7, a route 710 based on the route data 510 is displayed on the windshield of the airmobile 2. The status (congestion status, accident status, etc.) of the route 710 is collected by the monitoring drone 2 as traffic information and transmitted to the server 1. The traffic information may be automatically or manually transmitted from the airmobile 2 to the server 1. The traffic information is shared among the plurality of air mobiles 2, the surveillance drone 3, and the server 1.

In the received traffic information, the server 1 generates new route data when the current route is not appropriate, for example, when the traffic is congested. The generated new route data is transmitted to the airmobile 2. As shown in FIG. 8, the generated new route 510 ′ is set, and the information of the new route 510 ′ is shared by the air mobile and the surveillance drone 3. The server 1 may generate and transmit flight control instructions for (remotely) automatically controlling the air mobile 2 so that the air mobile 2 can fly on the new route 510'. In this case, the flight of the airmobile 2 is controlled based on the received flight control instruction.

The route data according to the present embodiment may further include speed limit information. That is, more appropriate route management can be performed by setting a speed limit on a part or all of the route, as with a road for automobiles. Further, for example, as shown in FIG. 9, the route may be an up line, a down line, and different roads depending on the speed limit. As shown in FIG. 9, the route 520 having a high speed limit is set to a higher altitude than the route 530 having a low speed limit. When moving from the route 530 to the route 520, the airmobile 2 passes through an unillustrated guiding route (route connecting the route 530 and the route 520).

Further, the route data may set a toll for some or all of the route. The area in which the toll is set (hereinafter referred to as “pay section”) is specified by information such as latitude, longitude, and altitude. When the air mobile 2 enters the pay section based on the position information received from the air mobile, the server 1 starts the payment related to the air mobile 2. For settlement, various conventional techniques can be used.

The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof and that the present invention includes equivalents thereof.

1 Route Management Control Server 2 Small Aircraft 3 Monitoring Rotorcraft 4 Network 10 Processor 11 Memory 12 Storage 13 Transmitter/Receiver 14 Input/Output 15 Bus 20 Processor 21 Memory 22 Storage 23 Transmitter/Receiver 24 Input/Output 25 Bus 26 Positioning 27 detection unit 30 processor 31 memory 32 storage 33 transmission/reception unit 34 input/output unit 35 bus 36 positioning unit 37 detection unit 100 route management control system 200, 300 information processing device 510, 510', 520, 530 route data 520 traffic data 530 location data

Claims (1)

A route management control system including a multicopter having a plurality of rotor blades, a monitoring drone, and a route management control device,
The multicopter, the monitoring drone, and the route management control device are communicably connected to each other via a network,
The route management control device is:
Location data including at least one of map information, topographical information and building information, and storage means for storing route data based on three-dimensional coordinates;
Control means for reading the location data and the route data;
Transmitting means for reading out the location data and the route data to the multicopter;
A receiving means for receiving the traffic information of the route;
The multicopter is:
A power unit for flight;
A positioning unit that measures position information;
A receiving unit that receives at least either the location data or the route data from the route management control device ;
A control unit for controlling the flight of the multirotor with accepting an operation by steering the author;
A display unit for displaying at least the received route data to an operator;
The surveillance drones are:
A power unit for flight;
A positioning unit that measures position information;
A collection unit for collecting the traffic information of the route;
A transmitting unit that transmits the collected traffic information to the route management control device ; is arranged near the route and monitors the route.
Route management control system.